CN204893961U - Terminal force feedback system for industrial robot operation of polishing - Google Patents
Terminal force feedback system for industrial robot operation of polishing Download PDFInfo
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- CN204893961U CN204893961U CN201520606471.7U CN201520606471U CN204893961U CN 204893961 U CN204893961 U CN 204893961U CN 201520606471 U CN201520606471 U CN 201520606471U CN 204893961 U CN204893961 U CN 204893961U
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- industrial robot
- feedback system
- force feedback
- spring
- air spring
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- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
Abstract
The utility model discloses a terminal force feedback system for industrial robot operation of polishing is connected through flange and arm, include base, top base, air spring, guider, displacement sensor, compression spring, linear motion ball bearing, proportional valve and air compressor down. It realizes the control of the pressure in the air spring through the proportional valve, making a concerted effort of producing exerts air spring and compression spring in the contact of the work piece waiting to polish and grinding apparatus, can realize the regulation of contact force, can reduce and polish the in -process to the requirement of industrial robot position accuracy, and reduction in production cost improves product quality, and the simple structure of this system, the control of being convenient for, easy popularization on the production line of polishing.
Description
Technical field
The utility model relates to force feedback system field, particularly relates to a kind of end force feedback system being applied to the operation of polishing industrial robot.
Background technology
Over nearly 20 years, machine artificially realizes industrial automation and provides a kind of effective economic means, and it is widely used in the fields such as the removal burr of part, chamfering and grinding fine finishining.Along with robot every field apply increasingly extensive, many application requirements robots have perception and the control ability of contact force, such as robot Fine Boring, repair and scrape or in buffing work-piece surface, grinding and the operating process such as scouring, require to keep its end effector and environmental exposure.So robot completes these job tasks, the ability of this Shared control based on force feedback must be possessed.Traditional robotic programming mode adopts the principle of definition path and speed.That is, no matter stressed size in process, the operating path of robot and speed remain value set in advance.If surface or the size of set path and part misfit, quality problems will be produced immediately, also may damage bistrique.
Utility model content
In order to overcome the deficiencies in the prior art, the utility model provides the end force feedback system that a kind of structure is simple, control to be applied to easily the operation of polishing industrial robot.
The utility model provides a kind of end force feedback system being applied to the operation of polishing industrial robot, be connected with mechanical arm by flange, comprise bottom base, top base, air spring, guider, displacement transducer, Compress Spring, ball bushing, proportioning valve and air compressor.
Described bottom base and Flange joint; Described top base and bottom base are oppositely arranged, and form an accommodation space with described bottom base.
Air spring, guider, displacement transducer are straggly to be distributed in described accommodation space; Compress Spring and ball bushing are located in guider; Air compressor is connected with air spring by wireway.
Proportioning valve is connected with air spring, controls the pressure in air spring for realizing.
Further, described in be applied to polishing industrial robot operation end force feedback system also comprise dirt-proof boot, its two ends are separately fixed on top base and bottom base by garter spring.
Further, described guider comprises guide rail, rail brackets and guide rail fixing element, and described guide rail is fixedly connected with top base, and can move by relatively described rail brackets, and described Compress Spring is wrapped up in and invested on described guide rail; Described rail brackets is fixedly connected with bottom base, and described ball bushing is installed on rail brackets.
Described guide rail fixing element is used for being connected and fixed described Compress Spring with guide rail.
The gas outlet of described proportioning valve is connected with described air spring, and described proportioning valve comprises to gas magnetic valve, electromagnetic valve for air discharge, pressure sensor and control panel, and described pressure sensor is for monitoring the pressure values of gas outlet.
Described control panel is electrically connected with displacement transducer, sends pressure regulation instruction for the signal of telecommunication returned according to displacement transducer to proportioning valve.
Preferably, described air spring is that bias is positioned in described accommodation space, and is angular distribution with guider, displacement transducer.
During polishing, when workpiece does not contact with grinding tool, proportioning valve provides a suitable pressure to ensure that its gas tightness is good to air spring.When workpiece and grinding tool come in contact, top base is relative to bottom base generation relative displacement, and displacement transducer produces the signal of telecommunication, after overregulating, send to control panel; The signal of telecommunication that control panel feeds back according to displacement transducer sends pressure regulation instruction to proportioning valve, force value is tuned up; Open to gas magnetic valve, electromagnetic valve for air discharge close, air compressor by wireway to air spring air feed, the pressure values in pressure sensor Real-Time Monitoring air spring; Air spring extends, top base is driven to do off-straight motion relative to bottom base, because guide rail is fixedly connected with top base, guide rail is opposite rail support motion also, frictional force when ball bushing to be installed on rail brackets to reduce guide rail movement and between rail brackets, Compress Spring now starts to be squeezed and produces restoring force F
spring, the decrement of displacement transducer Real-Time Monitoring Compress Spring, is applied to the contact force F on workpiece and grinding tool contact surface
contactfor the driving force F that air spring produces
pthe restoring force F produced with Compress Spring
springdifference; Contact force F
contactthe signal of telecommunication resolving into pressure sensor and displacement transducer sends control panel to, and it compares with the masterpiece required by control panel, if identical, then keeps pressure values now constant; If different, then need to continue to regulate pressure according to the difference e between them; Repeat above process until difference e is zero.
Disclosing based on technique scheme, the end force feedback system passing ratio valve being applied to the operation of polishing industrial robot described in the utility model provides realizes controlling the pressure in air spring, be applied to air spring and Compress Spring are produced with joint efforts contacting of workpiece to be polished and grinding tool, the adjustment of contact force can be realized, the requirement to industrial robot positional precision in bruting process can be reduced, reduce production cost, improve the quality of products, and this system architecture is simple, be convenient to control, be easy to the popularization on polishing production line.
Accompanying drawing explanation
A kind of schematic diagram being applied to the end force feedback system of polishing industrial robot operation that Fig. 1 provides for the utility model;
A kind of overall appearance figure being applied to the end force feedback system of polishing industrial robot operation that Fig. 2 a provides for the utility model;
A kind of cut-away view being applied to the end force feedback system of polishing industrial robot operation that Fig. 2 b provides for the utility model;
A kind of installation site schematic diagram being applied to proportioning valve in the end force feedback system of polishing industrial robot operation that Fig. 2 c provides for the utility model;
A kind of explosive view being applied to guider in the end force feedback system of polishing industrial robot operation that Fig. 3 a provides for the utility model;
A kind of assembly structure figure being applied to guider in the end force feedback system of polishing industrial robot operation that Fig. 3 b provides for the utility model;
A kind of schematic diagram of movements being applied to proportioning valve in the end force feedback system of polishing industrial robot operation that Fig. 4 provides for the utility model;
A kind of control principle drawing being applied to the end force feedback system of polishing industrial robot operation that Fig. 5 provides for the utility model.
Drawing reference numeral explanation
Flange 1, bottom base 2, proportioning valve 3, air spring 4, displacement transducer 5, guider 6, ball bushing 7, Compress Spring 8, top base 9, garter spring 10, dirt-proof boot 11, air compressor 12, guide rail 13, rail brackets 14, clamp 15.16, guide rail fixing element 17, air supply opening SUP, exhaust outlet EXH, gas outlet OUT, to gas magnetic valve 31, electromagnetic valve for air discharge 32, pressure sensor 33, control panel 34.
Detailed description of the invention
Below in conjunction with accompanying drawing, embodiment of the present utility model is described in detail.
Refer to Fig. 1 to Fig. 3, the utility model provides a kind of end force feedback system being applied to the operation of polishing industrial robot, be connected with mechanical arm by flange 1, comprise bottom base 2, top base 9, air spring 4, guider 6, displacement transducer 5, Compress Spring 8, ball bushing 7, proportioning valve 3, dirt-proof boot 11 and air compressor 12.
Refer to Fig. 2 a and Fig. 2 b, described bottom base 2 is connected with flange 1, for being connected with the mechanical arm of robot by the described end force feedback system being applied to the operation of polishing industrial robot; Described top base 9 is oppositely arranged with bottom base 2, and forms an accommodation space with described bottom base 2.Described its two ends of dirt-proof boot 11 are separately fixed at top base 9 with on bottom base 2 by garter spring 10.
Refer to Fig. 1 and Fig. 2 b, described air spring 4, guider 6, displacement transducer 5 are straggly to be distributed in described accommodation space, ideally air spring 4 should be located at upper and lower base central, but in order to layout is more reasonable, in the present embodiment, described air spring 4 is placed in eccentric, and with guider 6, displacement transducer 5 in angular distribution; Compress Spring 8 and ball bushing 7 is provided with in described guider 6; Described air compressor 12 is connected with air spring 4 by wireway.Institute's displacement sensors 5 is installed on described bottom base 2 by clamp (15,16).
Refer to Fig. 3 a and Fig. 3 b and composition graphs 1, described guider 6 comprises guide rail 13, rail brackets 14 and guide rail fixing element 17, described guide rail 13 is fixedly connected with top base 9, and can move by relatively described rail brackets 14, and described Compress Spring 8 is wrapped up in and invested on described guide rail 13; Described rail brackets 14 is fixedly connected with bottom base 2, and described ball bushing 7 is installed on rail brackets 14; Described guide rail fixing element 17 is for being connected and fixed described Compress Spring 8 with guide rail 13.
Refer to Fig. 2 c, Fig. 4, Fig. 5 and composition graphs 1, in described proportioning valve 3, SUP represents air supply opening, and EXH represents exhaust outlet, and OUT indicates gas port, and gas outlet OUT is connected with air spring 4, controls the pressure in air spring 4 for realizing.Described proportioning valve 3 comprises to gas magnetic valve 31, electromagnetic valve for air discharge 32, pressure sensor 33 and control panel 34, and described pressure sensor 33 is for monitoring the pressure values of gas outlet OUT; Described control panel 34 is electrically connected with displacement transducer 5, sends pressure regulation instruction for the signal of telecommunication returned according to displacement transducer 5 to proportioning valve 3.
Fig. 5 for described in be applied to the control principle drawing of the end force feedback system of polishing industrial robot operation, wherein A represents the effective area of air spring 4, and k represents the coefficient of elasticity of Compress Spring, F
prepresent the driving force that in air spring 4, air pressure produces, its value is p A, F
springrepresent the restoring force that Compress Spring produces, its value is k x, F
contactrepresent actual contact force, its value is F
p-F
spring, F
requiredfor the power required in actual bruting process, e is actual contact force and the difference requiring power, u be control panel according to e to the pressure regulation signal of proportioning valve 3.
During polishing, when workpiece does not contact with grinding tool, proportioning valve 3 provides a suitable pressure to ensure that its gas tightness is good to air spring 4.When workpiece and grinding tool come in contact, there is relative displacement relative to bottom base 2 in top base 9, and displacement transducer 5 produces the signal of telecommunication, sends to control panel 34 after overregulating; The signal of telecommunication that control panel 34 feeds back according to displacement transducer 5 sends pressure regulation instruction to proportioning valve 3, force value is tuned up; Open to gas magnetic valve 31, electromagnetic valve for air discharge 32 is closed, air compressor 12 by wireway to air spring 4 air feed, the pressure values in pressure sensor 33 Real-Time Monitoring air spring 4; Air spring 4 extends, top base 9 is driven to do off-straight motion relative to bottom base 2, because guide rail 13 is fixedly connected with top base 9, guide rail 13 also opposite rail support 14 moves, ball bushing 7 is installed in reduce frictional force when guide rail 13 moves and between rail brackets 14 on rail brackets 14, and Compress Spring 8 now starts to be squeezed and produces restoring force F
spring, the decrement of displacement transducer 5 Real-Time Monitoring Compress Spring 8, is applied to the contact force F on workpiece and grinding tool contact surface
contactfor the driving force F that air spring 4 produces
pthe restoring force F produced with Compress Spring 8
springdifference; Contact force F
contactthe signal of telecommunication resolving into pressure sensor 33 and displacement transducer 5 sends control panel 34 to, and it compares with the masterpiece required by control panel 34, if identical, then keeps pressure values now constant; If different, then need to continue to regulate pressure according to the difference e between them; Repeat above process until difference e is zero, guarantee the quality of polishing.
To sum up, the end force feedback system and the method passing ratio valve that are applied to the operation of polishing industrial robot described in the utility model provides realize controlling the pressure in air spring, be applied to air spring and Compress Spring are produced with joint efforts contacting of workpiece to be polished and grinding tool, the adjustment of contact force can be realized, the requirement to industrial robot positional precision in bruting process can be reduced, reduce production cost, improve the quality of products, and this system architecture is simple, be convenient to control, be easy to the popularization on polishing production line.
The above; be only the utility model preferably detailed description of the invention; but protection domain of the present utility model is not limited thereto; anyly be familiar with those skilled in the art in the technical scope that the utility model discloses; be equal to according to the technical solution of the utility model and utility model design thereof and replace or change, all should be encompassed within protection domain of the present utility model.
Claims (7)
1. one kind is applied to the end force feedback system of polishing industrial robot operation, it is characterized in that, be connected with mechanical arm by flange, comprise bottom base, top base, air spring, guider, displacement transducer, Compress Spring, ball bushing and air compressor, wherein:
Bottom base and Flange joint;
Top base and bottom base are oppositely arranged, and form an accommodation space with described bottom base;
Air spring, guider, displacement transducer are straggly to be distributed in described accommodation space;
Compress Spring and ball bushing are located in guider;
Air compressor is connected with air spring by wireway; Also comprise:
Proportioning valve, is connected with air spring, controls the pressure in air spring for realizing.
2. a kind of end force feedback system being applied to the operation of polishing industrial robot according to claim 1, it is characterized in that, also comprise dirt-proof boot, its two ends are separately fixed on top base and bottom base by garter spring.
3. a kind of end force feedback system being applied to the operation of polishing industrial robot according to claim 1, it is characterized in that, described guider comprises guide rail and rail brackets, described guide rail is fixedly connected with top base, and can move by relatively described rail brackets, described Compress Spring is wrapped up in and is invested on described guide rail; Described rail brackets is fixedly connected with bottom base, and described ball bushing is installed on rail brackets.
4. a kind of end force feedback system being applied to the operation of polishing industrial robot according to claim 3, it is characterized in that, described guider also comprises guide rail fixing element, for being connected and fixed described Compress Spring with guide rail.
5. a kind of end force feedback system being applied to the operation of polishing industrial robot according to claim 1, it is characterized in that, the gas outlet of described proportioning valve is connected with described air spring, and described proportioning valve comprises to gas magnetic valve, electromagnetic valve for air discharge, pressure sensor and control panel, described pressure sensor is for monitoring the pressure values of gas outlet.
6. a kind of end force feedback system being applied to the operation of polishing industrial robot according to claim 5, it is characterized in that, described control panel is electrically connected with displacement transducer, sends pressure regulation instruction for the signal of telecommunication returned according to displacement transducer to proportioning valve.
7. a kind of end force feedback system being applied to the operation of polishing industrial robot according to claim 1, it is characterized in that, described air spring is that bias is positioned in described accommodation space, and is angular distribution with guider, displacement transducer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520606471.7U CN204893961U (en) | 2015-08-13 | 2015-08-13 | Terminal force feedback system for industrial robot operation of polishing |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520606471.7U CN204893961U (en) | 2015-08-13 | 2015-08-13 | Terminal force feedback system for industrial robot operation of polishing |
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| CN204893961U true CN204893961U (en) | 2015-12-23 |
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| CN201520606471.7U Active CN204893961U (en) | 2015-08-13 | 2015-08-13 | Terminal force feedback system for industrial robot operation of polishing |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105196296A (en) * | 2015-08-13 | 2015-12-30 | 江苏汇博机器人技术有限公司 | Endpoint force feedback system and method applied to grinding industry robot operation |
| CN105751236A (en) * | 2016-01-12 | 2016-07-13 | 沈阳工业大学 | Flexible connection device of grinding robot |
-
2015
- 2015-08-13 CN CN201520606471.7U patent/CN204893961U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105196296A (en) * | 2015-08-13 | 2015-12-30 | 江苏汇博机器人技术有限公司 | Endpoint force feedback system and method applied to grinding industry robot operation |
| CN105751236A (en) * | 2016-01-12 | 2016-07-13 | 沈阳工业大学 | Flexible connection device of grinding robot |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee | ||
| CP03 | Change of name, title or address |
Address after: 215000 Suzhou Industrial Park, Jiangsu Road, No. 128 Patentee after: JIANGSU HUIBO ROBOTICS TECHNOLOGY CO., LTD. Address before: 215000, Jiangsu Industrial Park, Suzhou Province, Jinji Lake Road, 99, northwest of nano City, 09 Patentee before: JIANGSU HUIBO ROBOTICS TECHNOLOGY CO., LTD. |